FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES

FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND

EXTERNAL DISTURBANCES

Guangdeng ZONG;Yuqiang WU;Lihua ZHANG

【期刊名称】《系统科学与系统工程学报（英文版）》 【年(卷),期】2005(014)001

【摘要】The finite time tracking problem is considered for robotic manipulators with unknown dynamic friction, bounded disturbances and unmodeled dynamics. A global relay switching control scheme with finite time convergence is proposed. For general finite time variable structure controller, the control signals may escape to infinite in finite time when the initial states of the system are in some specified area, causing the singularity phenomena of the closed-loop system. The design scheme for finite time tracking control uses a two-phase switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomena is avoided. 【总页数】11页(115-125)

【关键词】Finite time convergence;switch control;singularity problem;robotic manipulator systems

【作者】Guangdeng ZONG;Yuqiang WU;Lihua ZHANG

【作者单位】Institute of Automation, Qufu Normal University Qufu, Shandong, 273165, China;Institute of Automation, Qufu Normal